相关论文: DANAE: a denoising autoencoder for underwater atti…

This letter introduces a new denoiser that modifies the structure of denoising autoencoder (DAE), namely noise learning based DAE (nlDAE). The proposed nlDAE learns the noise of the input data. Then, the denoising is performed by…

Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…

In this study, we proposed an efficient approach based on a deep learning (DL) denoising autoencoder (DAE) model for denoising noisy flow fields. The DAE operates on a self-learning principle and does not require clean data as training…

Visual inspection of underwater structures by vehicles, e.g. remotely operated vehicles (ROVs), plays an important role in scientific, military, and commercial sectors. However, the automatic extraction of information using software tools…

In this paper, we propose a new self-supervised method, which is called Denoising Masked AutoEncoders (DMAE), for learning certified robust classifiers of images. In DMAE, we corrupt each image by adding Gaussian noises to each pixel value…

Modern autonomous navigation for unmanned ground vehicles relies on different estimators to fuse inertial sensors and GNSS measurements. However, the constant noise covariance matrices often struggle to account for dynamic real-world…

Denoising autoencoders (DAEs) have proven useful for unsupervised representation learning, but a thorough theoretical understanding is still lacking of how the input noise influences learning. Here we develop theory for how noise influences…

Anomaly detection is the task of recognising novel samples which deviate significantly from pre-establishednormality. Abnormal classes are not present during training meaning that models must learn effective rep-resentations solely across…

Adaptability is central to autonomy. Intuitively, for high-dimensional learning problems such as navigating based on vision, internal models with higher complexity allow to accurately encode the information available. However, most learning…

Denoising of time domain data is a crucial task for many applications such as communication, translation, virtual assistants etc. For this task, a combination of a recurrent neural net (RNNs) with a Denoising Auto-Encoder (DAEs) has shown…

In this paper, an unsupervised deep learning framework based on dual-path model-driven variational auto-encoders (VAE) is proposed for angle-of-arrivals (AoAs) and channel estimation in massive MIMO systems. Specifically designed for…

Tomorrow's robots will need to distinguish useful information from noise when performing different tasks. A household robot for instance may continuously receive a plethora of information about the home, but needs to focus on just a small…

Denoising autoencoders (DAE) are trained to reconstruct their clean inputs with noise injected at the input level, while variational autoencoders (VAE) are trained with noise injected in their stochastic hidden layer, with a regularizer…

This paper reports an attempt to model the system dynamics and estimate both the unknown internal control input and the state of a recently developed marine autonomous vehicle, the Jaiabot. Although the Jaiabot has shown promise in many…

This paper addresses the challenge of estimating the orientation, position, and velocity of a vehicle operating in three-dimensional (3D) space with six degrees of freedom (6-DoF). A Deep Learning-based Adaptation Mechanism (DLAM) is…

Control performance of Unmanned Aerial Vehicles (UAVs) is directly affected by their ability to estimate their states accurately. With the increasing popularity of autonomous UAV solutions in real world applications, it is imperative to…

The generative learning phase of Autoencoder (AE) and its successor Denosing Autoencoder (DAE) enhances the flexibility of data stream method in exploiting unlabelled samples. Nonetheless, the feasibility of DAE for data stream analytic…

Modern navigation solutions are largely dependent on the performances of the standalone inertial sensors, especially at times when no external sources are available. During these outages, the inertial navigation solution is likely to…

This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalman filter that employs stochastic neural networks to model…

We propose Denoising Masked Autoencoder (Deno-MAE), a novel multimodal autoencoder framework for denoising modulation signals during pretraining. DenoMAE extends the concept of masked autoencoders by incorporating multiple input modalities,…